Blob detection with Aforge.net to control a servo through an arduino mega

Blob detection with Aforge.net to control a servo through an arduino mega

Hello, 
I've already tested openCV and found a little difficulties to integrate it in a windows form application, although openCV is a great library it's still lack of this characteristic, well I found another magnificent library not so powerful as openCV but can be easily integrated in a c#.net application, it's Aforge.net

It's much easier to learn this framework if you already have knowledge of image processing.
..So I create this application that reads the images from a cheap web cam and look for a specific color in the image get some values from it(x,y,widht) to control a servo via an arduino mega ADK.

To find the object I used blob detection after filter the image with HSLfilter and the convert it to gray scale so I can use the blob detection algorithm  which works only with Binary or gray images.

after that I send the X values of the object through serial to an arduino, where I map it to control a servo angle.

c# code:
using System;
using System.Collections.Generic;
using System.ComponentModel;
using System.Data;
using System.Drawing;
using System.Linq;
using System.Text;
using System.Windows.Forms;
using AForge;
using AForge.Video;
using AForge.Video.DirectShow;
using AForge.Imaging.Filters;
using AForge.Imaging;

namespace hslfilterblob
{
    public partial class Form1 : Form
    {
        private FilterInfoCollection videoCaptureDevices;
        private VideoCaptureDevice finalVideo;
        private int minHue = 0, maxHue = 355;
        private float minLum = 0, maxLum = 1, minSat = 0, maxSat = 1;
        private Byte[] buffer = new Byte[1];
        private bool serialok = false;
        private float map = 0f;

        public Form1()
        {
            InitializeComponent();
            videoCaptureDevices = new FilterInfoCollection(FilterCategory.VideoInputDevice);
            finalVideo = new VideoCaptureDevice(videoCaptureDevices[1].MonikerString);
            finalVideo.NewFrame += new NewFrameEventHandler(Finalvideo_newframe);
            finalVideo.Start();
        }

        void Finalvideo_newframe(object sender, NewFrameEventArgs eventArgs)
        {
            Bitmap video = (Bitmap)eventArgs.Frame.Clone();
            Bitmap video2 = (Bitmap)eventArgs.Frame.Clone();
            //Create color filter
            HSLFiltering HslFilter = new HSLFiltering();
            //configre the filter
            HslFilter.Hue = new AForge.IntRange(minHue, maxHue);
            HslFilter.Saturation = new AForge.Range(minSat, maxSat);
            HslFilter.Luminance = new AForge.Range(minLum, maxLum);
            //apply color filter to the image
            HslFilter.ApplyInPlace(video2);
            //create gray filter
            Grayscale grayFilter = new GrayscaleBT709();
            Bitmap grayImage = grayFilter.Apply(video2);
            //display Image
            BlobCounter blobcounter = new BlobCounter();
            blobcounter.MinHeight = 100;
            blobcounter.MinWidth = 100;
            blobcounter.ObjectsOrder = ObjectsOrder.Size;
            //locate blobs
            blobcounter.ProcessImage(grayImage);
            Rectangle[] rects = blobcounter.GetObjectsRectangles();
            //draw rectangle around the biggest blob
            if (rects.Length > 0)
            {
                Rectangle objectRect1 = rects[0];
              
                Graphics g = Graphics.FromImage(video);

                    using (Pen pen = new Pen(Color.Red, 3))
                    {
                        g.DrawRectangle(pen, objectRect1);
                        PointF drawPoin = new PointF(objectRect1.X,objectRect1.Y);
                        int objectX = objectRect1.X + objectRect1.Width / 2 - video.Width / 2;
                        int objectY = video.Height / 2 - (objectRect1.Y + objectRect1.Height / 2);
                        String Blobinformation = "X= "+objectX.ToString()+"\nY= "+objectY.ToString()+"\nSize="+objectRect1.Size.ToString();
                        g.DrawString(Blobinformation, new Font("Arial", 16), new SolidBrush(Color.Blue), drawPoin);
                       
                        if (serialok == true)
                        {
                            int second =0;
                            int offset=300;
                            second = offset - Math.Abs(objectX);
                            map =(float) 0.85 * second;
                            buffer[0] = (byte)Math.Abs((int)map);
                            serialPort1.Write(buffer, 0, 1);
                        }
                    }
                    g.Dispose();
               
            }          
            pictureBox1.Image = video;
            pictureBox2.Image = grayImage;
        }

        private void trackBarMaxHue_Scroll(object sender, EventArgs e)
        {
            maxHue = trackBarMaxHue.Value;
        }

        private void trackBarMinHue_Scroll(object sender, EventArgs e)
        {
            minHue = trackBarMinHue.Value;
        }

        private void trackBarMaxSat_Scroll(object sender, EventArgs e)
        {
            maxSat = trackBarMaxSat.Value / 100F;
        }

        private void trackBarSatMin_Scroll(object sender, EventArgs e)
        {
            minSat = trackBarSatMin.Value / 100F;
        }

        private void trackBarLumMax_Scroll(object sender, EventArgs e)
        {
            maxLum = trackBarLumMax.Value / 100F;
        }

        private void trackBarLumMin_Scroll(object sender, EventArgs e)
        {
            minLum = trackBarSatMin.Value / 100F;
        }

        private void button1_Click(object sender, EventArgs e)
        {
            ColorDialog colorDlg = new ColorDialog();
            colorDlg.AnyColor = true;
            colorDlg.SolidColorOnly = false;
            colorDlg.Color = Color.Red;

            if (colorDlg.ShowDialog() == DialogResult.OK)
            {
                textBox1.Text = colorDlg.Color.GetHue().ToString();
                textBox2.Text = colorDlg.Color.GetSaturation().ToString();
                textBox3.Text = colorDlg.Color.GetBrightness().ToString();
            }
        }

        private void btnCommunication_Click(object sender, EventArgs e)
        {
            try
            {
                serialPort1.Open();
                btnCommunication.BackColor = Color.Green;
                serialok = true;
            }
            catch (Exception t)
            {
                MessageBox.Show(t.ToString());
            }
        }
    }
}

arduino code:
#include <Servo.h>

Servo servo1;
int inbyte=0;
int i;
void setup(){
  servo1.attach(2);
  Serial.begin(9600);
  Serial.println("Start!");
 
  for(i=0;i<180;i++){
    servo1.write(i);
    delay(15);
  }
  servo1.write(90);
}

void loop(){
  if(Serial.available()>0){
    inbyte=Serial.read();
       
  }
     servo1.write(map(inbyte,0,255,0,180));
     delay(15);
}